Among the related technologies of mobile robots, local path planning technology is a key technology. For the self-delivery robot to distribute certain fragile items or items that are more sensitive to motion, in order to ensure the safety of the articles to be transported, the centrifugal force of the robot body should also be considered in the path planning. Dynamic window algorithm is a commonly used algorithm for local path planning. For the classical dynamic window approach, the centrifugal force of the robot in motion is not taken into account. An improved dynamic window approach is proposed. The evaluation term of centrifugal force was added to the objective function of the classical dynamic window approach to prevent the robot from running unstable due to excessive centrifugal force during the steering process. Experiments show that when the centrifugal force evaluation item accounts for a heavier proportion in the objective function, the steering radius of the robot is larger, and in most cases, it runs along a straight line, and the maximum value of the centrifugal force is smaller during the entire navigation process.